NASA Astrobee Robot Software  Astrobee Version:
Flight software for the Astrobee robots operating inside the International Space Station.
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graph_vio::GraphVIO Class Reference

#include <graph_vio.h>

Inheritance diagram for graph_vio::GraphVIO:
Inheritance graph

Public Member Functions

 GraphVIO (const GraphVIOParams &params)
 
 GraphVIO ()
 
void AddImuMeasurement (const localization_measurements::ImuMeasurement &imu_measurement)
 
void SetFanSpeedMode (const localization_measurements::FanSpeedMode &fan_speed_mode)
 
void AddFeaturePointsMeasurement (const localization_measurements::FeaturePointsMeasurement &feature_points_measurement)
 
void AddDepthOdometryMeasurement (const localization_measurements::DepthOdometryMeasurement &depth_odometry_measurement)
 
const nodes::CombinedNavStateNodes & combined_nav_state_nodes () const
 
bool standstill () const
 
const vision_common::SpacedFeatureTracker & feature_tracker () const
 
std::shared_ptr< localization_common::MarginalsPoseCovarianceInterpolater< nodes::CombinedNavStateNodes > > MarginalsPoseCovarianceInterpolater ()
 
- Public Member Functions inherited from sliding_window_graph_optimizer::SlidingWindowGraphOptimizer
 SlidingWindowGraphOptimizer (const SlidingWindowGraphOptimizerParams &params, std::unique_ptr< optimizers::Optimizer > optimizer)
 
virtual ~SlidingWindowGraphOptimizer ()=default
 
 SlidingWindowGraphOptimizer ()
 
void AddSlidingWindowNodeAdder (std::shared_ptr< node_adders::SlidingWindowNodeAdder > sliding_window_node_adder)
 
bool Update ()
 
const localization_common::Timer & update_timer () const
 
double Duration () const
 
- Public Member Functions inherited from graph_optimizer::GraphOptimizer
 GraphOptimizer (const GraphOptimizerParams &params, std::unique_ptr< optimizers::Optimizer > optimizer)
 
 GraphOptimizer ()
 
virtual ~GraphOptimizer ()=default
 
void AddNodeAdder (std::shared_ptr< node_adders::NodeAdder > node_adder)
 
void AddFactorAdder (std::shared_ptr< factor_adders::FactorAdder > factor_adder)
 
int AddFactors (const localization_common::Time start_time, const localization_common::Time end_time)
 
int AddFactors (const std::pair< localization_common::Time, localization_common::Time > &start_and_end_time)
 
bool Optimize ()
 
boost::optional< gtsam::Matrix > Covariance (const gtsam::Key &key) const
 
boost::optional< gtsam::Matrix > Covariance (const gtsam::Key &key_a, const gtsam::Key &key_b) const
 
const gtsam::NonlinearFactorGraph & factors () const
 
gtsam::NonlinearFactorGraph & factors ()
 
template<typename FactorType >
std::vector< boost::shared_ptr< const FactorType > > Factors () const
 
int num_factors () const
 
template<typename FactorType >
int NumFactors () const
 
int num_values () const
 
const GraphOptimizerParams & params () const
 
std::shared_ptr< nodes::Values > values ()
 
const gtsam::Values & gtsam_values () const
 
localization_common::StatsLogger & stats_logger ()
 
const localization_common::Timer & optimization_timer () const
 
const localization_common::Averager & optimization_iterations_averager () const
 
double TotalGraphError () const
 
virtual bool ValidGraph () const
 
virtual void Print () const
 
void SaveGraphDotFile (const std::string &output_path="graph.dot") const
 
boost::optional< const gtsam::Marginals & > marginals () const
 

Friends

class boost::serialization::access
 

Constructor & Destructor Documentation

◆ GraphVIO() [1/2]

graph_vio::GraphVIO::GraphVIO ( const GraphVIOParams &  params)
explicit

◆ GraphVIO() [2/2]

graph_vio::GraphVIO::GraphVIO ( )
inline

Member Function Documentation

◆ AddDepthOdometryMeasurement()

void graph_vio::GraphVIO::AddDepthOdometryMeasurement ( const localization_measurements::DepthOdometryMeasurement &  depth_odometry_measurement)

◆ AddFeaturePointsMeasurement()

void graph_vio::GraphVIO::AddFeaturePointsMeasurement ( const localization_measurements::FeaturePointsMeasurement &  feature_points_measurement)

◆ AddImuMeasurement()

void graph_vio::GraphVIO::AddImuMeasurement ( const localization_measurements::ImuMeasurement &  imu_measurement)

◆ combined_nav_state_nodes()

const no::CombinedNavStateNodes & graph_vio::GraphVIO::combined_nav_state_nodes ( ) const

◆ feature_tracker()

const vc::SpacedFeatureTracker & graph_vio::GraphVIO::feature_tracker ( ) const

◆ MarginalsPoseCovarianceInterpolater()

std::shared_ptr< lc::MarginalsPoseCovarianceInterpolater< no::CombinedNavStateNodes > > graph_vio::GraphVIO::MarginalsPoseCovarianceInterpolater ( )

◆ SetFanSpeedMode()

void graph_vio::GraphVIO::SetFanSpeedMode ( const localization_measurements::FanSpeedMode &  fan_speed_mode)

◆ standstill()

bool graph_vio::GraphVIO::standstill ( ) const

Friends And Related Function Documentation

◆ boost::serialization::access

friend class boost::serialization::access
friend
The documentation for this class was generated from the following files: